Class NodeFactory

• Defined in File node_factory.hpp

Inheritance Relationships

Derived Type

• public rclcpp_components::NodeFactoryTemplate< NodeT > (Template Class NodeFactoryTemplate)

Class Documentation

class NodeFactory

The NodeFactory interface is used by the class loader to instantiate components.

The NodeFactory interface serves two purposes:

• It allows for classes not derived from rclcpp::Node to be used as components.

• It allows derived constructors to be called when components are loaded.

Subclassed by rclcpp_components::NodeFactoryTemplate< NodeT >

Public Functions

NodeFactory() = default

virtual ~NodeFactory() = default

virtual NodeInstanceWrapper create_node_instance(const rclcpp::NodeOptions &options) = 0

Create an instance of a component.

Parameters:

options – [in] Additional options used in the construction of the component.